Revision: 8029
http://playerstage.svn.sourceforge.net/playerstage/?rev=8029&view=rev
Author: rtv
Date: 2009-07-16 03:25:18 +0000 (Thu, 16 Jul 2009)
Log Message:
-----------
more STLing
Modified Paths:
--------------
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/canvas.hh
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_draw.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/worlds/fasr.world
Removed Paths:
-------------
code/stage/trunk/libstage/glcolorstack.cc
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2009-07-16 01:10:16 UTC (rev
8028)
+++ code/stage/trunk/libstage/CMakeLists.txt 2009-07-16 03:25:18 UTC (rev
8029)
@@ -12,7 +12,6 @@
file_manager.cc
file_manager.hh
gl.cc
- glcolorstack.cc
logentry.cc
model.cc
model_actuator.cc
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2009-07-16 01:10:16 UTC (rev 8028)
+++ code/stage/trunk/libstage/canvas.cc 2009-07-16 03:25:18 UTC (rev 8029)
@@ -18,6 +18,8 @@
#include <string>
#include <sstream>
#include <png.h>
+#include <algorithm>
+#include <functional> // For greater<int>( )
#include "region.hh"
#include "file_manager.hh"
@@ -52,7 +54,7 @@
int width, int height)
:
Fl_Gl_Window( x, y, width, height ),
colorstack(),
- models_sorted( NULL ),
+ models_sorted(),
current_camera( NULL ),
camera(),
perspective_camera(),
@@ -60,7 +62,7 @@
wf( NULL ),
startx( -1 ),
starty( -1 ),
- selected_models( NULL ),
+ selected_models(),
last_selection( NULL ),
interval( 50 ), //msec between redraws
// initialize Option objects
@@ -264,44 +266,34 @@
return mod;
}
-bool Canvas::selected( Model* mod ) {
- if( g_list_find( selected_models, mod ) )
- return true;
- else
- return false;
+bool Canvas::selected( Model* mod )
+{
+ return( std::find( selected_models.begin(), selected_models.end(), mod ) !=
selected_models.end() );
}
void Canvas::select( Model* mod ) {
if( mod )
{
last_selection = mod;
- selected_models = g_list_prepend( selected_models, mod );
+ selected_models.push_front( mod );
// mod->Disable();
redraw();
}
}
-void Canvas::unSelect( Model* mod ) {
+void Canvas::unSelect( Model* mod )
+{
if( mod )
{
- if ( GList* link = g_list_find( selected_models, mod ) )
- {
- // remove it from the selected list
- selected_models =
- g_list_remove_link( selected_models, link );
- // mod->Enable();
- redraw();
- }
- }
+ selected_models.erase( std::remove( selected_models.begin(),
selected_models.end(), mod ));
+ redraw();
+ }
}
-void Canvas::unSelectAll() {
- // for( GList* it=selected_models; it; it=it->next )
- // ((Model*)it->data)->Enable();
-
- g_list_free( selected_models );
- selected_models = NULL;
+void Canvas::unSelectAll()
+{
+ selected_models.clear();
}
// convert from 2d window pixel to 3d world coordinates
@@ -470,9 +462,9 @@
CanvasToWorld( Fl::event_x(), Fl::event_y(),
&x, &y,
&z );
// move all selected models to the mouse pointer
- for( GList* it = selected_models; it;
it=it->next )
+ FOR_EACH( it, selected_models )
{
- Model* mod = (Model*)it->data;
+ Model* mod = *it;
mod->AddToPose( x-sx, y-sy, 0, 0 );
}
}
@@ -490,9 +482,9 @@
}
else if ( Fl::event_state( FL_BUTTON3 ) || ( Fl::event_state(
FL_BUTTON1 ) && Fl::event_state( FL_CTRL ) ) ) {
// rotate all selected models
- for( GList* it = selected_models; it; it=it->next )
+ FOR_EACH( it, selected_models )
{
- Model* mod = (Model*)it->data;
+ Model* mod = *it;
mod->AddToPose( 0,0,0, 0.05*(dx+dy) );
}
}
@@ -561,13 +553,13 @@
void Canvas::AddModel( Model* mod )
{
- models_sorted = g_list_append( models_sorted, mod );
+ models_sorted.push_back( mod );
}
void Canvas::RemoveModel( Model* mod )
{
printf( "removing model %s from canvas list\n", mod->Token() );
- models_sorted = g_list_remove( models_sorted, mod );
+ models_sorted.erase( std::remove( models_sorted.begin(),
models_sorted.end(), mod ));
}
void Canvas::DrawGlobalGrid()
@@ -664,8 +656,9 @@
void Canvas::DrawBlocks()
{
- LISTMETHOD( models_sorted, Model*, DrawBlocksTree );
-
+ FOR_EACH( it, models_sorted )
+ (*it)->DrawBlocksTree();
+
// some models may be carried by others - this prevents them being drawn
twice
// for( GList* it = models_sorted; it; it=it->next )
// {
@@ -722,27 +715,29 @@
//TODO reset perspective cam
}
-// used to sort a list of models by inverse distance from the x,y pose in
[coords]
-gint compare_distance( Model* a, Model* b, double coords[2] )
+
+class DistFuncObj
{
- Pose a_pose = a->GetGlobalPose();
- Pose b_pose = b->GetGlobalPose();
+ stg_meters_t x, y;
+ DistFuncObj( stg_meters_t x, stg_meters_t y )
+ : x(x), y(y) {}
- double a_dist = hypot( coords[1] - a_pose.y,
- coords[0] -
a_pose.x );
-
- double b_dist = hypot( coords[1] - b_pose.y,
- coords[0] -
b_pose.x );
-
- if( a_dist < b_dist )
- return 1;
+ bool operator()(const Model* a, const Model* b ) const
+ {
+ Pose a_pose = a->GetGlobalPose();
+ Pose b_pose = b->GetGlobalPose();
+
+ stg_meters_t a_dist = hypot( y - a_pose.y,
+
x - a_pose.x );
+
+ stg_meters_t b_dist = hypot( y - b_pose.y,
+
x - b_pose.x );
+
+ return ( a_dist < b_dist );
+ }
+};
- if( a_dist > b_dist )
- return -1;
- return 0; // must be the same
-}
-
void Canvas::renderFrame()
{
//before drawing, order all models based on distance from camera
@@ -754,15 +749,19 @@
x += -sin( sphi ) * 100;
y += -cos( sphi ) * 100;
- double coords[2];
- coords[0] = x;
- coords[1] = y;
+ //double coords[2];
+ //coords[0] = x;
+ //coords[1] = y;
// sort the list of models by inverse distance from the camera -
// probably doesn't change too much between frames so this is
// usually fast
- models_sorted = g_list_sort_with_data( models_sorted,
(GCompareDataFunc)compare_distance, coords );
+ // TODO
+ //models_sorted = g_list_sort_with_data( models_sorted,
(GCompareDataFunc)compare_distance, coords );
+ // TODO: understand why this doesn't work and fix it - just cosmetic but
important!
+ //std::sort( models_sorted.begin(), models_sorted.end(), DistFuncObj(x,y) );
+
glEnable( GL_DEPTH_TEST );
if( ! showTrails )
@@ -886,7 +885,10 @@
if( showFootprints )
{
glDisable( GL_DEPTH_TEST );
- LISTMETHOD( models_sorted, Model*, DrawTrailFootprint );
+
+ FOR_EACH( it, models_sorted )
+ (*it)->DrawTrailFootprint();
+
glEnable( GL_DEPTH_TEST );
}
@@ -1000,8 +1002,8 @@
// }
- for( GList* it=selected_models; it; it=it->next )
- ((Model*)it->data)->DrawSelected();
+ FOR_EACH( it, selected_models )
+ (*it)->DrawSelected();
// useful debug - puts a point at the origin of each model
//for( GList* it = world->World::children; it; it=it->next )
@@ -1013,7 +1015,7 @@
FOR_EACH( it, world->World::children )
(*it)->DataVisualizeTree( current_camera );
}
- else if ( selected_models ) {
+ else if ( selected_models.size() > 0 ) {
FOR_EACH( it, world->World::children )
(*it)->DataVisualizeTree( current_camera );
}
@@ -1023,14 +1025,17 @@
}
if( showGrid )
- LISTMETHOD( models_sorted, Model*, DrawGrid );
-
+ FOR_EACH( it, models_sorted )
+ (*it)->DrawGrid();
+
if( showFlags )
- LISTMETHOD( models_sorted, Model*, DrawFlagList );
-
+ FOR_EACH( it, models_sorted )
+ (*it)->DrawFlagList();
+
if( showBlinken )
- LISTMETHOD( models_sorted, Model*, DrawBlinkenlights );
-
+ FOR_EACH( it, models_sorted )
+ (*it)->DrawBlinkenlights();
+
if( showStatus )
{
glDisable( GL_DEPTH_TEST );
@@ -1039,20 +1044,21 @@
//ensure two icons can't be in the exact same plane
if( camera.pitch() == 0 && !pCamOn )
glTranslatef( 0, 0, 0.1 );
-
- LISTMETHODARG( models_sorted, Model*, DrawStatusTree, &camera );
+ FOR_EACH( it, models_sorted )
+ (*it)->DrawStatusTree( &camera );
+
glEnable( GL_DEPTH_TEST );
glPopMatrix();
}
- if( world->GetRayList() )
+ if( world->ray_list.size() > 0 )
{
glDisable( GL_DEPTH_TEST );
PushColor( 0,0,0,0.5 );
- for( GList* it = world->GetRayList(); it; it=it->next )
+ FOR_EACH( it, world->ray_list )
{
- float* pts = (float*)it->data;
+ float* pts = *it;
glBegin( GL_LINES );
glVertex2f( pts[0], pts[1] );
glVertex2f( pts[2], pts[3] );
Modified: code/stage/trunk/libstage/canvas.hh
===================================================================
--- code/stage/trunk/libstage/canvas.hh 2009-07-16 01:10:16 UTC (rev 8028)
+++ code/stage/trunk/libstage/canvas.hh 2009-07-16 03:25:18 UTC (rev 8029)
@@ -3,144 +3,157 @@
#include "option.hh"
#include <map>
+#include <stack>
namespace Stg
{
-// COLOR STACK CLASS
-class GlColorStack
-{
- public:
- GlColorStack();
- ~GlColorStack();
+ class Canvas : public Fl_Gl_Window
+ {
+ friend class WorldGui; // allow access to private members
+ friend class Model;
+
+ private:
- void Push( GLdouble col[4] );
- void Push( double r, double g, double b, double a );
- void Push( double r, double g, double b );
- void Push( Color col );
-
- void Pop();
-
+ class GlColorStack
+ {
+ public:
+ GlColorStack() : colorstack() {}
+ ~GlColorStack() {}
+
+ void Push( double r, double g, double b, double a=1.0 )
+ {
+ Push( Color(r,g,b,a) );
+ }
+
+ void Push( Color col )
+ {
+ colorstack.push( col );
+ glColor4f( col.r, col.g, col.b, col.a );
+ }
+
+ void Pop()
+ {
+ if( colorstack.size() < 1 )
+ PRINT_WARN1( "Attempted to ColorStack.Pop() but
ColorStack %p is empty",
+ this );
+ else
+ {
+ Color& old = colorstack.top();
+ colorstack.pop();
+ glColor4f( old.r, old.g, old.b, old.a );
+ }
+ }
+
unsigned int Length()
- { return g_queue_get_length( colorstack ); }
-
- private:
- GQueue* colorstack;
-};
-
-
-class Canvas : public Fl_Gl_Window
-{
- friend class WorldGui; // allow access to private members
- friend class Model;
+ { return colorstack.size(); }
+
+ private:
+ std::stack<Color> colorstack;
+ } colorstack;
+
+ std::list<Model*> models_sorted;
-private:
- GlColorStack colorstack;
+ Camera* current_camera;
+ OrthoCamera camera;
+ PerspectiveCamera perspective_camera;
+ bool dirty_buffer;
+ Worldfile* wf;
- GList* models_sorted;
+ int startx, starty;
+ bool selectedModel;
+ bool clicked_empty_space;
+ int empty_space_startx, empty_space_starty;
+ std::list<Model*> selected_models;
+ Model* last_selection; ///< the most recently selected model
+ ///(even if it is now unselected).
- Camera* current_camera;
- OrthoCamera camera;
- PerspectiveCamera perspective_camera;
- bool dirty_buffer;
- Worldfile* wf;
+ stg_msec_t interval; // window refresh interval in ms
- int startx, starty;
- bool selectedModel;
- bool clicked_empty_space;
- int empty_space_startx, empty_space_starty;
- GList* selected_models; ///< a list of models that are currently
- ///selected by the user
- Model* last_selection; ///< the most recently selected model
- ///(even if it is now unselected).
-
- stg_msec_t interval; // window refresh interval in ms
-
- GList* ray_list;
- void RecordRay( double x1, double y1, double x2, double y2 );
- void DrawRays();
- void ClearRays();
- void DrawGlobalGrid();
+ void RecordRay( double x1, double y1, double x2, double y2 );
+ void DrawRays();
+ void ClearRays();
+ void DrawGlobalGrid();
- void AddModel( Model* mod );
- void RemoveModel( Model* mod );
+ void AddModel( Model* mod );
+ void RemoveModel( Model* mod );
- Option showBlinken,
- showBlocks,
- showClock,
- showData,
- showFlags,
- showFollow,
- showFootprints,
- showGrid,
- showOccupancy,
- showScreenshots,
- showStatus,
- showTrailArrows,
- showTrailRise,
- showTrails,
- showTree,
- showBBoxes,
- showBlur,
- pCamOn,
- visualizeAll;
+ Option showBlinken,
+ showBlocks,
+ showClock,
+ showData,
+ showFlags,
+ showFollow,
+ showFootprints,
+ showGrid,
+ showOccupancy,
+ showScreenshots,
+ showStatus,
+ showTrailArrows,
+ showTrailRise,
+ showTrails,
+ showTree,
+ showBBoxes,
+ showBlur,
+ pCamOn,
+ visualizeAll;
-public:
- Canvas( WorldGui* world, int x, int y, int width, int height);
- ~Canvas();
+ public:
+ Canvas( WorldGui* world, int x, int y, int width, int height);
+ ~Canvas();
- bool graphics;
- WorldGui* world;
- unsigned long frames_rendered_count;
- int screenshot_frame_skip;
+ bool graphics;
+ WorldGui* world;
+ unsigned long frames_rendered_count;
+ int screenshot_frame_skip;
- std::map< std::string, Option* > _custom_options;
+ std::map< std::string, Option* > _custom_options;
- void Screenshot();
- void InitGl();
- void createMenuItems( Fl_Menu_Bar* menu, std::string path );
+ void Screenshot();
+ void InitGl();
+ void createMenuItems( Fl_Menu_Bar* menu, std::string path );
- void FixViewport(int W,int H);
- void DrawFloor(); //simpler floor compared to grid
- void DrawBlocks();
- void DrawBoundingBoxes();
- void resetCamera();
- virtual void renderFrame();
- virtual void draw();
- virtual int handle( int event );
- void resize(int X,int Y,int W,int H);
+ void FixViewport(int W,int H);
+ void DrawFloor(); //simpler floor compared to grid
+ void DrawBlocks();
+ void DrawBoundingBoxes();
+ void resetCamera();
+ virtual void renderFrame();
+ virtual void draw();
+ virtual int handle( int event );
+ void resize(int X,int Y,int W,int H);
- void CanvasToWorld( int px, int py,
- double *wx, double *wy, double* wz );
+ void CanvasToWorld( int px, int py,
+ double *wx,
double *wy, double* wz );
- Model* getModel( int x, int y );
- bool selected( Model* mod );
- void select( Model* mod );
- void unSelect( Model* mod );
- void unSelectAll();
+ Model* getModel( int x, int y );
+ bool selected( Model* mod );
+ void select( Model* mod );
+ void unSelect( Model* mod );
+ void unSelectAll();
- inline void setDirtyBuffer( void ) { dirty_buffer = true; }
- inline bool dirtyBuffer( void ) const { return dirty_buffer; }
+ inline void setDirtyBuffer( void ) { dirty_buffer = true; }
+ inline bool dirtyBuffer( void ) const { return dirty_buffer; }
- inline void PushColor( Color col )
- { colorstack.Push( col ); }
+ inline void PushColor( Color col )
+ { colorstack.Push( col ); }
- void PushColor( double r, double g, double b, double a )
- { colorstack.Push( r,g,b,a ); }
+ void PushColor( double r, double g, double b, double a )
+ { colorstack.Push( r,g,b,a ); }
- void PopColor(){ colorstack.Pop(); }
+ void PopColor(){ colorstack.Pop(); }
- void InvertView( uint32_t invertflags );
+ void InvertView( uint32_t invertflags );
- bool VisualizeAll(){ return ! visualizeAll; }
+ bool VisualizeAll(){ return ! visualizeAll; }
- static void TimerCallback( Canvas* canvas );
- static void perspectiveCb( Fl_Widget* w, void* p );
+ static void TimerCallback( Canvas* canvas );
+ static void perspectiveCb( Fl_Widget* w, void* p );
- void EnterScreenCS();
- void LeaveScreenCS();
+ void EnterScreenCS();
+ void LeaveScreenCS();
- void Load( Worldfile* wf, int section );
- void Save( Worldfile* wf, int section );
-};
+ void Load( Worldfile* wf, int section );
+ void Save( Worldfile* wf, int section );
+ };
} // namespace Stg
Deleted: code/stage/trunk/libstage/glcolorstack.cc
===================================================================
--- code/stage/trunk/libstage/glcolorstack.cc 2009-07-16 01:10:16 UTC (rev
8028)
+++ code/stage/trunk/libstage/glcolorstack.cc 2009-07-16 03:25:18 UTC (rev
8029)
@@ -1,74 +0,0 @@
-#include "canvas.hh"
-
-using namespace Stg;
-
-GlColorStack::GlColorStack()
-{
- colorstack = g_queue_new();
-}
-
-GlColorStack::~GlColorStack()
-{
-}
-
-void GlColorStack::Push( GLdouble col[4] )
-{
- GLdouble *keep = new GLdouble[4];
- memcpy( keep, col, 4*sizeof(GLdouble) );
-
- g_queue_push_head( colorstack, keep );
-
- // and select this color in GL
- glColor4dv( col );
-}
-
-
-void GlColorStack::Push( double r, double g, double b )
-{
- GLdouble col[4];
- col[0] = r;
- col[1] = g;
- col[2] = b;
- col[3] = 1.0;
-
- Push( col );
-}
-
-// a convenience wrapper around push_color()
-void GlColorStack::Push( double r, double g, double b, double a )
-{
- GLdouble col[4];
- col[0] = r;
- col[1] = g;
- col[2] = b;
- col[3] = a;
-
- Push( col );
-}
-
-void GlColorStack::Push( Color col )
-{
- GLdouble d[4];
-
- d[0] = col.r;
- d[1] = col.g;
- d[2] = col.b;
- d[3] = col.a;
-
- Push( d );
-}
-
-
-// reset GL to the color we stored using store_color()
-void GlColorStack::Pop( void )
-{
- if( g_queue_is_empty( colorstack ) )
- PRINT_WARN1( "Attempted to ColorStack.Pop() but ColorStack %p
is empty",
- this );
- else
- {
- GLdouble *col = (GLdouble*)g_queue_pop_head( colorstack );
- glColor4dv( col );
- delete[] col;
- }
-}
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-07-16 01:10:16 UTC (rev 8028)
+++ code/stage/trunk/libstage/model.cc 2009-07-16 03:25:18 UTC (rev 8029)
@@ -201,7 +201,7 @@
color( 1,0,0 ), // red
data_fresh(false),
disabled(false),
- custom_visual_list( NULL ),
+ cv_list(),
flag_list(),
geom(),
has_default_block( true ),
@@ -216,7 +216,7 @@
parent(parent),
pose(),
power_pack( NULL ),
- pps_charging(NULL),
+ pps_charging(),
props(NULL),
rastervis(),
rebuild_displaylist(true),
@@ -479,16 +479,6 @@
ztest );
}
-// utility for g_free()ing everything in a list
-void list_gfree( GList* list )
-{
- // free all the data in the list
- LISTFUNCTION( list, gpointer, g_free );
-
- // free the list elements themselves
- g_list_free( list );
-}
-
// convert a global pose into the model's local coordinate system
Pose Model::GlobalToLocal( const Pose& pose ) const
{
@@ -805,22 +795,15 @@
assert( mypp );
// detach charger from all the packs charged last time
- for( GList* it = pps_charging; it; it = it->next )
- ((PowerPack*)it->data)->ChargeStop();
- g_list_free( pps_charging );
- pps_charging = NULL;
-
+ FOR_EACH( it, pps_charging )
+ (*it)->ChargeStop();
+ pps_charging.clear();
+
// run through and update all appropriate touchers
ModelPtrSet touchers;
AppendTouchingModels( touchers );
- // for( GList* touchers = AppendTouchingModels( NULL );
- // touchers;
- // touchers = touchers->next )
FOR_EACH( it, touchers )
-// for( GList* touchers = AppendTouchingModels( NULL );
-// touchers;
-// touchers = touchers->next )
{
Model* toucher = (*it); //(Model*)touchers->data;
PowerPack* hispp =toucher->FindPowerPack();
@@ -843,7 +826,7 @@
mypp->TransferTo( hispp, amount );
// remember who we are charging so we can detatch next
time
- pps_charging = g_list_prepend( pps_charging, hispp );
+ pps_charging.push_front( hispp );
}
}
}
@@ -1072,7 +1055,7 @@
height(0),
cellwidth(0),
cellheight(0),
- pts(NULL)
+ pts()
{
}
@@ -1088,7 +1071,7 @@
Gl::pose_inverse_shift( mod->GetGlobalPose() );
- if( pts )
+ if( pts.size() > 0 )
{
glPushMatrix();
Size sz = mod->blockgroup.GetSize();
@@ -1098,15 +1081,15 @@
// now we're in world meters coordinates
glPointSize( 4 );
glBegin( GL_POINTS );
- for( GList* it=pts; it; it=it->next )
+
+ FOR_EACH( it, pts )
{
- stg_point_t* pt = (stg_point_t*)it->data;
- assert( pt );
- glVertex2f( pt->x, pt->y );
+ stg_point_t& pt = *it;
+ glVertex2f( pt.x, pt.y );
char buf[128];
- snprintf( buf, 127, "[%.2f x %.2f]", pt->x, pt->y );
- Gl::draw_string( pt->x, pt->y, 0, buf );
+ snprintf( buf, 127, "[%.2f x %.2f]", pt.x, pt.y );
+ Gl::draw_string( pt.x, pt.y, 0, buf );
}
glEnd();
@@ -1185,16 +1168,10 @@
void Model::RasterVis::AddPoint( stg_meters_t x, stg_meters_t y )
{
- pts = g_list_prepend( pts, new stg_point_t( x, y ) );
+ pts.push_back( stg_point_t( x, y ) );
}
void Model::RasterVis::ClearPts()
{
- if( pts )
- for( GList* it=pts; it; it=it->next )
- if( it->data )
- delete (stg_point_t*)it->data;
-
- g_list_free( pts );
- pts = NULL;
+ pts.clear();
}
Modified: code/stage/trunk/libstage/model_draw.cc
===================================================================
--- code/stage/trunk/libstage/model_draw.cc 2009-07-16 01:10:16 UTC (rev
8028)
+++ code/stage/trunk/libstage/model_draw.cc 2009-07-16 03:25:18 UTC (rev
8029)
@@ -253,9 +253,9 @@
glPopMatrix();
}
-void Model::AddVisualizer( Visualizer* custom_visual, bool on_by_default )
+void Model::AddVisualizer( Visualizer* cv, bool on_by_default )
{
- if( !custom_visual )
+ if( !cv )
return;
// If there's no GUI, ignore this request
@@ -263,27 +263,29 @@
return;
//save visual instance
- custom_visual_list = g_list_append(custom_visual_list, custom_visual );
+ //cv_list = g_list_append(cv_list, cv );
+ cv_list.push_back( cv );
//register option for all instances which share the same name
Canvas* canvas = world_gui->GetCanvas();
- std::map< std::string, Option* >::iterator i =
canvas->_custom_options.find( custom_visual->GetMenuName() );
+ std::map< std::string, Option* >::iterator i =
canvas->_custom_options.find( cv->GetMenuName() );
if( i == canvas->_custom_options.end() ) {
- Option* op = new Option( custom_visual->GetMenuName(),
-
custom_visual->GetWorldfileName(),
+ Option* op = new Option( cv->GetMenuName(),
+
cv->GetWorldfileName(),
"",
on_by_default,
world_gui );
- canvas->_custom_options[ custom_visual->GetMenuName() ] = op;
+ canvas->_custom_options[ cv->GetMenuName() ] = op;
RegisterOption( op );
}
}
-void Model::RemoveVisualizer( Visualizer* custom_visual )
+void Model::RemoveVisualizer( Visualizer* cv )
{
- if( custom_visual )
- custom_visual_list = g_list_remove(custom_visual_list,
custom_visual );
+ if( cv )
+ cv_list.erase( remove( cv_list.begin(), cv_list.end(), cv ));
+
//TODO unregister option - tricky because there might still be
instances attached to different models which have the same name
}
@@ -450,7 +452,6 @@
Pose gpose = GetGlobalPose();
glRotatef( 180 + rtod(-gpose.a),0,0,1 );
-
for( std::list<Flag*>::reverse_iterator it( flag_list.rbegin());
it != flag_list.rend();
it++ )
@@ -529,13 +530,15 @@
PushLocalCoords();
DataVisualize( cam ); // virtual function overridden by most model types
- Visualizer* vis;
- for( GList* item = custom_visual_list; item; item = item->next ) {
- vis = static_cast<Visualizer* >( item->data );
- if( world_gui->GetCanvas()->_custom_options[ vis->GetMenuName()
]->isEnabled() )
- vis->Visualize( this, cam );
- }
-
+ for( std::list<Visualizer*>::iterator it = cv_list.begin();
+ it != cv_list.end();
+ it++ )
+ {
+ Visualizer* vis = *it;
+ if( world_gui->GetCanvas()->_custom_options[ vis->GetMenuName()
]->isEnabled() )
+ vis->Visualize( this, cam );
+ }
+
// and draw the children
FOR_EACH( it, children )
(*it)->DataVisualizeTree( cam );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-07-16 01:10:16 UTC (rev 8028)
+++ code/stage/trunk/libstage/stage.hh 2009-07-16 03:25:18 UTC (rev 8029)
@@ -656,13 +656,6 @@
#define VAR(V,init) __typeof(init) V=(init)
#define FOR_EACH(I,C) for(VAR(I,(C).begin());I!=(C).end();I++)
- // list iterator macros
- // todo: retire these along with glib
-#define LISTFUNCTION( LIST, TYPE, FUNC ) for( GList* it=LIST; it; it=it->next
) FUNC((TYPE)it->data);
-#define LISTMETHOD( LIST, TYPE, METHOD ) for( GList* it=LIST; it; it=it->next
) ((TYPE)it->data)->METHOD();
-#define LISTFUNCTIONARG( LIST, TYPE, FUNC, ARG ) for( GList* it=LIST; it;
it=it->next ) FUNC((TYPE)it->data, ARG);
-#define LISTMETHODARG( LIST, TYPE, METHOD, ARG ) for( GList* it=LIST; it;
it=it->next ) ((TYPE)it->data)->METHOD(ARG);
-
// Error macros - output goes to stderr
#define PRINT_ERR(m) fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n",
__FILE__, __FUNCTION__)
#define PRINT_ERR1(m,a) fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n",
a, __FILE__, __FUNCTION__)
@@ -850,7 +843,6 @@
ModelPtrSet charge_list; ///< Models which receive charge are listed
here
bool destroy;
bool dirty; ///< iff true, a gui redraw would be required
- // GList* event_list; //<
GHashTable* models_by_name; ///< the models that make up the world,
indexed by name
/** Keep a list of all models with detectable fiducials. This
avoids searching the whole world for fiducials. */
@@ -879,13 +871,13 @@
stg_bounds3d_t extent; ///< Describes the 3D volume of the world
bool graphics;///< true iff we have a GUI
stg_usec_t interval_sim; ///< temporal resolution: microseconds that
elapse between simulated time steps
- GHashTable* option_table; ///< GUI options (toggles) registered by
models
- GList* powerpack_list; ///< List of all the powerpacks attached to
models in the world
- GList* ray_list;///< List of rays traced for debug visualization
+ GHashTable* option_table; ///< GUI options (toggles) registered by
models
+ std::list<PowerPack*> powerpack_list; ///< List of all the powerpacks
attached to models in the world
+ std::list<float*> ray_list;///< List of rays traced for debug
visualization
stg_usec_t sim_time; ///< the current sim time in this world in
microseconds
- std::map<stg_point_int_t,SuperRegion*> superregions;
+ std::map<stg_point_int_t,SuperRegion*> superregions;
SuperRegion* sr_cached; ///< The last superregion looked up by this world
-
+
// todo - test performance of std::set
std::vector<ModelPtrVec > update_lists;
@@ -1000,7 +992,6 @@
void AddPowerPack( PowerPack* pp );
void RemovePowerPack( PowerPack* pp );
- GList* GetRayList(){ return ray_list; };
void ClearRays();
/** store rays traced for debugging purposes */
@@ -1720,7 +1711,7 @@
instead of adding a data callback. */
bool data_fresh;
stg_bool_t disabled; ///< if non-zero, the model is disabled
- GList* custom_visual_list;
+ std::list<Visualizer*> cv_list;
std::list<Flag*> flag_list;
Geom geom;
Pose global_pose;
@@ -1757,7 +1748,7 @@
/** list of powerpacks that this model is currently charging,
initially NULL. */
- GList* pps_charging;
+ std::list<PowerPack*> pps_charging;
/** GData datalist can contain arbitrary named data items. Can be used
by derived model types to store properties, and for user code
@@ -1771,7 +1762,8 @@
uint8_t* data;
unsigned int width, height;
stg_meters_t cellwidth, cellheight;
- GList* pts;
+ //GList* pts;
+ std::vector<stg_point_t> pts;
public:
RasterVis();
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-07-16 01:10:16 UTC (rev 8028)
+++ code/stage/trunk/libstage/world.cc 2009-07-16 03:25:18 UTC (rev 8029)
@@ -104,8 +104,8 @@
graphics( false ),
interval_sim( (stg_usec_t)thousand * interval_sim ),
option_table( g_hash_table_new( g_str_hash, g_str_equal ) ),
- powerpack_list( NULL ),
- ray_list( NULL ),
+ powerpack_list(),
+ ray_list(),
sim_time( 0 ),
superregions(),
sr_cached(NULL),
@@ -404,8 +404,7 @@
update_lists.resize(1);
- g_list_free( ray_list );
- ray_list = NULL;
+ ray_list.clear();
// todo
//g_hash_table_foreach( superregions, (GHFunc)destroy_sregion, NULL );
@@ -618,19 +617,18 @@
drawpts[1] = y1;
drawpts[2] = x2;
drawpts[3] = y2;
- ray_list = g_list_append( ray_list, drawpts );
+ ray_list.push_back( drawpts );
}
void World::ClearRays()
{
- for( GList* it = ray_list; it; it=it->next )
- {
- float* pts = (float*)it->data;
- delete [] pts;
- }
-
- g_list_free(ray_list );
- ray_list = NULL;
+ FOR_EACH( it, ray_list )
+ {
+ float* pts = *it;
+ delete [] pts;
+ }
+
+ ray_list.clear();
}
@@ -1059,12 +1057,12 @@
void World::AddPowerPack( PowerPack* pp )
{
- powerpack_list = g_list_append( powerpack_list, pp );
+ powerpack_list.push_back( pp );
}
void World::RemovePowerPack( PowerPack* pp )
{
- powerpack_list = g_list_remove( powerpack_list, pp );
+ powerpack_list.erase( remove( powerpack_list.begin(), powerpack_list.end(),
pp ));
}
/// Register an Option for pickup by the GUI
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-07-16 01:10:16 UTC (rev 8028)
+++ code/stage/trunk/worlds/fasr.world 2009-07-16 03:25:18 UTC (rev 8029)
@@ -22,7 +22,7 @@
(
size [ 600.000 600.000 ]
- center [ 0.250 -0.680 ]
+ center [ 0.217 -0.222 ]
rotate [ 0 0 ]
scale 30.643
@@ -102,15 +102,15 @@
charging_bump( fiducial( range 3 pose [ 0 0 -0.100 0 ] ) )
)
-autorob( pose [-1.667 -2.152 0 -90.000] joules 300000 )
+autorob( pose [-3.164 0.806 0 33.186] joules 300000 name "r0" )
autorob( pose [1.384 7.361 0 -0.139] joules 100000 )
autorob( pose [-5.258 -5.871 0 -120.113] joules 200000 )
autorob( pose [6.600 5.211 0 -89.911] joules 400000 )
autorob( pose [-6.355 1.726 0 90.000] joules 100000 )
-autorob( pose [4.452 -1.179 0 164.286] joules 200000 )
-autorob( pose [4.820 -3.446 0 24.788] joules 300000 )
-autorob( pose [-0.187 3.065 0 -153.738] joules 400000 )
-autorob( pose [4.309 3.736 0 121.988] joules 100000 )
+autorob( pose [-1.530 -2.099 0 82.171] joules 200000 )
+autorob( pose [4.661 -1.695 0 147.974] joules 300000 )
+autorob( pose [-0.947 2.798 0 124.147] joules 400000 )
+autorob( pose [3.573 6.962 0 -32.711] joules 100000 )
autorob( pose [6.261 7.461 0 0] joules 200000 )
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